Merge branch 'outm_for_2.8' into 2.8

Author: andypugh

docs/man/man9/hm2_eth.9

@@ -46,7 +46,7 @@ hm2_eth is a device driver that interfaces Mesa's ethernet
 based Anything I/O boards (with the HostMot2 firmware) to the LinuxCNC
 HAL.
 
-The supported boards are: 7i76E, 7I80DB, 7I80HD, 7i92, 7i93, 7i96.
+The supported boards are: 7I76E, 7I80DB, 7I80HD, 7I92, 7I93, 7I94, 7I95, 7I96, 7I96S, 7I97, 7I98.
 
 The board must have its hardware loaded on the board by the mesaflash(1) program.
 

docs/man/man9/hostmot2.9

@@ -122,7 +122,9 @@ The valid entries in the format string are:
  [num_sserials=\fIN\fB]
  [sserial_port_\fI0\fB=\fI00000000\fB]
  [num_leds=\fIN\fB]
- [num_ssrs=\fIN\fB]
+ [num_ssrs=\fIN\fB] 
+ [num_outms=\fIN\fB]
+ [num_xy2mods=\fIN\fB]
  [enable_raw]
 
 .TP
@@ -1374,6 +1376,35 @@ The state of this SSR instance's NNth output.  Set to 0 to make
 the output pins act like an open switch (no connection), set to 1 to
 make them act like a closed switch.
 
+.TP
+(bit in) invert-NN
+Inverts the state of this SSR instance's NNth output, defaults to 0. 
+When invert-NN is set to 1, SSR output NN is closed when the out-NN 
+pin is 0 and open when the out-NN pin is 1
+
+.SH OutM Simple output module
+
+OutMs have names like
+"hm2_\fI<BoardType>\fR.\fI<BoardNum>\fR.OutM.\fI<Instance>\fR".
+"Instance" is a two-digit number that corresponds to the HostMot2 OutM
+instance number.  There are 'num_outms' instances, starting
+with 00.
+
+Each instance has between 1 and 32 output pins.
+
+Pins:
+
+.TP
+(bit in) out-NN
+The sets the state of this OutM instance's NNth output. Normally the output
+pin follows the state of this pin but may be inverted by the invert-nn hal pin 
+
+.TP
+(bit in) invert-NN
+Inverts the state of the this OutM instance's NNth output, defaults to 0. 
+When invert-NN is set to 1, OutM output NN is high when the out-NN 
+pin is 0 and low when the out-NN pin is 1
+
 .SH xy2mod
 
 The xy2mod is a xy2-100 galvanometer interface. It supports 16 and 18 bit 

src/Makefile

@@ -912,6 +912,7 @@ hostmot2-objs :=			  \
     hal/drivers/mesa-hostmot2/resolver.o  \
     hal/drivers/mesa-hostmot2/sserial.o   \
     hal/drivers/mesa-hostmot2/ssr.o       \
+    hal/drivers/mesa-hostmot2/outm.o      \
     hal/drivers/mesa-hostmot2/stepgen.o   \
     hal/drivers/mesa-hostmot2/tp_pwmgen.o \
     hal/drivers/mesa-hostmot2/tram.o	  \

src/emc/usr_intf/pncconf/build_HAL.py

@@ -1510,14 +1510,14 @@ def connect_input(self, file):
 
         def write_pins(pname,p,i,t):
             # for input pins
-            if t == _PD.GPIOI:
+            if t in (_PD.GPIOI, _PD.INM0):
                 if not p == "unused-input":
                     pinname = self.a.make_pinname(pname, substitution = self.d.useinisubstitution) 
                     print >>file, "\n# ---",p.upper(),"---"
                     if "parport" in pinname:
                         if i: print >>file, "net %s     <= %s-not" % (p, pinname)
                         else: print >>file, "net %s     <= %s" % (p, pinname)
-                    elif "sserial" in pname:
+                    elif "sserial" in pname or t == _PD.INM0:
                         if i: print >>file, "net %s     <=  "% (p)+pinname +"-not"
                         else: print >>file, "net %s     <=  "% (p)+pinname
                     else:
@@ -1605,7 +1605,7 @@ def connect_output(self, file):
 
         def write_pins(pname,p,i,t,boardnum,connector,port,channel,pin):
             # for output /open drain pins
-            if t in (_PD.GPIOO,_PD.GPIOD,_PD.SSR0):
+            if t in (_PD.GPIOO,_PD.GPIOD,_PD.SSR0,_PD.OUTM0):
                 if not p == "unused-output":
                     pinname = self.a.make_pinname(pname, substitution = self.d.useinisubstitution)
                     print >>file, "\n# ---",p.upper(),"---"
@@ -1619,9 +1619,9 @@ def write_pins(pname,p,i,t,boardnum,connector,port,channel,pin):
                             temp = pinname
                         # mainboard GPIOO require extra setup commands
                         else:
-                            if not t == _PD.SSR0: print >>file, "setp %s true"% (pinname + ".is_output")
+                            if t not in (_PD.SSR0,_PD.OUTM0): print >>file, "setp %s true"% (pinname + ".is_output")
                             if t == _PD.GPIOD: print >>file, "setp    "+pinname+".is_opendrain  true"
-                            if t == _PD.SSR0:
+                            if t in (_PD.SSR0,_PD.OUTM0):
                                 temp = pinname
                             else:
                                 temp = pinname + ".out"

src/emc/usr_intf/pncconf/pncconf.py

@@ -111,7 +111,11 @@ def __init__(self,app,bin_dir,base_dir):
              _("GPIO Input"),_("GPIO Output"),_("GPIO O Drain") ]
         (   self.SSR0,) = self.pintype_ssr = [
              _("SSR Output") ]
-        (   self.ENCA,self.ENCB,self.ENCI,self.ENCM 
+        (   self.OUTM0,) = self.pintype_outm = [
+             _("OUTM Output") ]
+        (   self.INM0,) = self.pintype_inm = [
+             _("INM Input") ]
+        (   self.ENCA,self.ENCB,self.ENCI,self.ENCM
         ) = self.pintype_encoder = [
             _("Quad Enc-A"),_("Quad Enc-B"),_("Quad Enc-I"),_("Quad Enc-M") ]
         ( self. MXE0,self.MXE1,self.MXEI,self.MXEM,self.MXES 
@@ -303,7 +307,7 @@ def __init__(self,app,bin_dir,base_dir):
         ) = self.hal_8i20_input_names =[
             "unused-8i20","x-8i20","y-8i20","z-8i20","a-8i20","s-8i20"]
 
-        (   S.USED_POT,S_POT_OUT,S_POT_ENABLE  )= self.hal_pot_output_names = ["unused-pot",
+        (   S.USED_POT,S.POT_OUT,S.POT_ENABLE  )= self.hal_pot_output_names = ["unused-pot",
             "s-pot-output","s-pot-enable"]
 
         (   S.UNUSED_STEPGEN,
@@ -848,6 +852,60 @@ def __init__(self,app,bin_dir,base_dir):
         [S.GPIOI, 0],[S.GPIOI, 0],[S.GPIOI, 0],[S.GPIOI, 0],[S.GPIOI, 0],[S.GPIOI, 0],[S.GPIOI, 0],
         [S.NUSED,0],[S.NUSED,0],[S.NUSED,0],[S.NUSED,0],[S.NUSED,0],[S.NUSED,0],[S.NUSED,0],],
 
+    ['7i96-Internal Data', '7i96', '7i96dpl', '7i96', 'hm2_eth',
+        3,1, 0,0, 0,3, 0,0, 5,2, 1,1, [],0,0,0,0,0,0,0, 1, 34, 33, 200, [1, 2, 3],
+        # TAB 1
+        [S.GPIOI, 100],[S.GPIOI, 100],[S.GPIOI, 100],[S.GPIOI, 100],[S.GPIOI, 100],[S.GPIOI, 100],[S.GPIOI, 100],[S.GPIOI, 100],[S.GPIOI, 100],[S.GPIOI, 100],
+        [S.GPIOI, 100],[S.SSR0, 100],[S.SSR0, 101],[S.SSR0, 102],[S.SSR0, 103],[S.SSR0, 104],[S.SSR0, 105],
+        [S.NUSED,0],[S.NUSED,0],[S.NUSED,0],[S.NUSED,0],[S.NUSED,0],[S.NUSED,0],[S.NUSED,0],
+        # TAB 2
+        [S.STEPB,0],[S.STEPA,0],[S.STEPB,1],[S.STEPA,1],[S.STEPB,2],[S.STEPA,2],[S.STEPB,3],[S.STEPA,3],[S.STEPB,4],[S.STEPA,4],
+        [S.ENCA,0],[S.ENCA,1],[S.ENCA,2],[S.RXDATA0,0],[S.TXDATA0,0],[S.TXEN0,0],[S.NUSED,0],
+        [S.NUSED,0],[S.NUSED,0],[S.NUSED,0],[S.NUSED,0],[S.NUSED,0],[S.NUSED,0],[S.NUSED,0],
+        # TAB 3
+        [S.GPIOI, 0],[S.GPIOI, 0],[S.GPIOI, 0],[S.GPIOI, 0],[S.GPIOI, 0],[S.GPIOI, 0],[S.GPIOI, 0],[S.GPIOI, 0],[S.GPIOI, 0],[S.GPIOI, 0],
+        [S.GPIOI, 0],[S.GPIOI, 0],[S.GPIOI, 0],[S.GPIOI, 0],[S.GPIOI, 0],[S.GPIOI, 0],[S.GPIOI, 0],
+        [S.NUSED,0],[S.NUSED,0],[S.NUSED,0],[S.NUSED,0],[S.NUSED,0],[S.NUSED,0],[S.NUSED,0],],
+
+    # 7i96s ####################
+    ['7i96s-Internal Data', '7i96s', '7i96s_d', '7i96s', 'hm2_eth',
+        1,3, 0,0, 1,3, 0,0, 5,2, 1,1, [],0,0,0,0,0,0,0, 1, 34, 33, 200, [1, 2, 3],
+        # TAB 1
+        [S.INM0, 100],[S.INM0, 101],[S.INM0, 102],[S.INM0, 103],[S.INM0, 104],[S.INM0, 105],
+        [S.INM0, 106],[S.INM0, 107],[S.INM0, 108],[S.INM0, 109],[S.INM0, 110],
+        [S.SSR0, 100],[S.SSR0, 101],[S.SSR0, 102],[S.SSR0, 103],
+        [S.OUTM0, 104],[S.OUTM0, 105],
+        [S.NUSED,0],[S.NUSED,0],[S.NUSED,0],[S.NUSED,0],[S.NUSED,0],[S.NUSED,0],[S.NUSED,0],
+        # TAB 2
+        [S.STEPB,0],[S.STEPA,0],[S.STEPB,1],[S.STEPA,1],[S.STEPB,2],[S.STEPA,2],
+        [S.STEPB,3],[S.STEPA,3],[S.STEPB,4],[S.STEPA,4],[S.ENCA,0],[S.ENCB,0],[S.ENCI,0],
+        [S.RXDATA0,0],[S.TXDATA0,0],[S.TXEN0,0],[S.PWMP,0],
+        [S.NUSED,0],[S.NUSED,0],[S.NUSED,0],[S.NUSED,0],[S.NUSED,0],[S.NUSED,0],[S.NUSED,0],
+        # TAB 3
+        [S.GPIOI, 0],[S.GPIOI, 0],[S.GPIOI, 0],[S.GPIOI, 0],[S.GPIOI, 0],[S.GPIOI, 0],
+        [S.GPIOI, 0],[S.GPIOI, 0],[S.GPIOI, 0],[S.GPIOI, 0],[S.GPIOI, 0],[S.GPIOI, 0],
+        [S.GPIOI, 0],[S.GPIOI, 0],[S.GPIOI, 0],[S.GPIOI, 0],[S.GPIOI, 0],
+        [S.NUSED,0],[S.NUSED,0],[S.NUSED,0],[S.NUSED,0],[S.NUSED,0],[S.NUSED,0],[S.NUSED,0],],
+
+    ['7i96s-Internal Data', '7i96s', '7i96s_dpl', '7i96s', 'hm2_eth',
+        3,1, 0,0, 1,3, 0,0, 5,2, 1,1, [],0,0,0,0,0,0,0, 1, 34, 33, 200, [1, 2, 3],
+        # TAB 1
+        [S.INM0, 100],[S.INM0, 101],[S.INM0, 102],[S.INM0, 103],[S.INM0, 104],[S.INM0, 105],
+        [S.INM0, 106],[S.INM0, 107],[S.INM0, 108],[S.INM0, 109],[S.INM0, 110],
+        [S.SSR0, 100],[S.SSR0, 101],[S.SSR0, 102],[S.SSR0, 103],
+        [S.OUTM0, 104],[S.OUTM0, 105],
+        [S.NUSED,0],[S.NUSED,0],[S.NUSED,0],[S.NUSED,0],[S.NUSED,0],[S.NUSED,0],[S.NUSED,0],
+        # TAB 2
+        [S.STEPB,0],[S.STEPA,0],[S.STEPB,1],[S.STEPA,1],[S.STEPB,2],[S.STEPA,2],
+        [S.STEPB,3],[S.STEPA,3],[S.STEPB,4],[S.STEPA,4],[S.ENCA,0],[S.ENCA,1],[S.ENCA,2],
+        [S.RXDATA0,0],[S.TXDATA0,0],[S.TXEN0,0],[S.PWMP,0],
+        [S.NUSED,0],[S.NUSED,0],[S.NUSED,0],[S.NUSED,0],[S.NUSED,0],[S.NUSED,0],[S.NUSED,0],
+        # TAB 3
+        [S.GPIOI, 0],[S.GPIOI, 0],[S.GPIOI, 0],[S.GPIOI, 0],[S.GPIOI, 0],[S.GPIOI, 0],
+        [S.GPIOI, 0],[S.GPIOI, 0],[S.GPIOI, 0],[S.GPIOI, 0],[S.GPIOI, 0],[S.GPIOI, 0],
+        [S.GPIOI, 0],[S.GPIOI, 0],[S.GPIOI, 0],[S.GPIOI, 0],[S.GPIOI, 0],
+        [S.NUSED,0],[S.NUSED,0],[S.NUSED,0],[S.NUSED,0],[S.NUSED,0],[S.NUSED,0],[S.NUSED,0],],
+
     ]
 
         #**************************
@@ -1044,6 +1102,7 @@ def __init__(self,app,bin_dir,base_dir):
         '7i92':{'DRIVER':'hm2_eth','PINS_PER_CONNECTOR':17,'TOTAL_CONNECTORS':2},
         '7i93':{'DRIVER':'hm2_eth','PINS_PER_CONNECTOR':24,'TOTAL_CONNECTORS':2},
         '7i96':{'DRIVER':'hm2_eth','PINS_PER_CONNECTOR':17,'TOTAL_CONNECTORS':3,'TAB_NUMS':[1,2,3],'TAB_NAMES':['TB3','TB1/TB2','P1']},
+        '7i96s':{'DRIVER':'hm2_eth','PINS_PER_CONNECTOR':17,'TOTAL_CONNECTORS':3,'TAB_NUMS':[1,2,3],'TAB_NAMES':['TB3','TB1/TB2','P1']},
         '7i98':{'DRIVER':'hm2_eth','PINS_PER_CONNECTOR':17,'TOTAL_CONNECTORS':3},
         }
 

src/emc/usr_intf/pncconf/private_data.py

@@ -448,7 +448,6 @@ static char *hm2_8cSS_pin_names[] = {
 
 };
 
-
 #define UDP_PORT 27181
 #define SEND_TIMEOUT_US 10
 #define RECV_TIMEOUT_US 10
@@ -1239,6 +1238,29 @@ static int hm2_eth_probe(hm2_eth_t *board) {
         board->llio.fpga_part_number = "6slx9tqg144";
         board->llio.num_leds = 4;
 
+    } else if (strncmp(board_name, "7I96S", 8) == 0) {
+        strncpy(llio_name, board_name, 8);
+        llio_name[1] = tolower(llio_name[1]);
+        llio_name[4] = tolower(llio_name[4]);
+       board->llio.num_ioport_connectors = 3;
+        board->llio.pins_per_connector = 17;
+        board->llio.io_connector_pin_names = hm2_7i96_pin_names;
+
+        // DB25, 17 pins used, IO 34 to IO 50
+        board->llio.ioport_connector_name[0] = "P1";
+
+        // terminal block, 8 pins used, Step & Dir 0-3
+        board->llio.ioport_connector_name[1] = "TB1";
+
+        // terminal block, 7 pins used, Step & Dir 4, Enc A, B, Z, serial Rx/Tx, Spindle Analog
+        board->llio.ioport_connector_name[2] = "TB2";
+
+        // terminal block, 11 inputs, 6 SSR outputs
+        board->llio.ioport_connector_name[3] = "TB3";
+
+        board->llio.fpga_part_number = "t20f256";
+        board->llio.num_leds = 4;
+
     } else if (strncmp(board_name, "7I97", 8) == 0) {
         strncpy(llio_name, board_name, 8);
         llio_name[1] = tolower(llio_name[1]);
@@ -1279,7 +1301,7 @@ static int hm2_eth_probe(hm2_eth_t *board) {
         board->llio.fpga_part_number = "6slx9tqg144";
         board->llio.num_leds = 4;
 
-   
+
     } else if (strncmp(board_name, "MC04", 4) == 0) {
         strncpy(llio_name, board_name, 4);
         llio_name[1] = tolower(llio_name[1]);
@@ -1294,7 +1316,6 @@ static int hm2_eth_probe(hm2_eth_t *board) {
         board->llio.ioport_connector_name[1] = "P2";
 
 
-
      } else if (strncmp(board_name, "8CSS", 4) == 0) {
         strncpy(llio_name, board_name, 4);
         llio_name[1] = tolower(llio_name[1]);
@@ -1308,11 +1329,6 @@ static int hm2_eth_probe(hm2_eth_t *board) {
         board->llio.ioport_connector_name[0] = "P1";
         board->llio.ioport_connector_name[1] = "P2";
 
-
-
-
-
-
     } else {
         LL_PRINT("Unrecognized ethernet board found: %.16s -- port names will be wrong\n", board_name);
         strncpy(llio_name, board_name, 4);

src/hal/drivers/mesa-hostmot2/hm2_eth.c

@@ -142,8 +142,9 @@ static void hm2_write(void *void_hm2, long period) {
     hm2_stepgen_prepare_tram_write(hm2, period);
     hm2_sserial_prepare_tram_write(hm2, period);
     hm2_bspi_prepare_tram_write(hm2, period);
-    hm2_ssr_prepare_tram_write(hm2);
-    //UARTS need to be explicity handled by an external component
+    hm2_ssr_prepare_tram_write(hm2); 
+    hm2_outm_prepare_tram_write(hm2);
+    //UARTS need to be explicitly handled by an external component
     hm2_tram_write(hm2);
 
     // these usually do nothing
@@ -311,6 +312,7 @@ const char *hm2_get_general_function_name(int gtag) {
         case HM2_GTAG_HM2DPLL:         return "Hostmot2 DPLL";
         case HM2_GTAG_INMUX:           return "InMux Input Mux";
         case HM2_GTAG_INM:             return "InM Input Module";
+        case HM2_GTAG_OUTM:             return "OutM Output Module";
         case HM2_GTAG_XY2MOD:          return "xy2mod Galvo interface";
         case HM2_GTAG_DPAINTER:        return "Data Painter";
         case HM2_GTAG_SSR:             return "SSR";
@@ -390,6 +392,7 @@ static int hm2_parse_config_string(hostmot2_t *hm2, char *config_string) {
     hm2->config.num_xy2mods = -1;
     hm2->config.num_leds = -1;
     hm2->config.num_ssrs = -1;
+    hm2->config.num_outms = -1;
     hm2->config.enable_raw = 0;
     hm2->config.firmware = NULL;
 
@@ -444,6 +447,14 @@ static int hm2_parse_config_string(hostmot2_t *hm2, char *config_string) {
             token += 9;
             hm2->config.num_inms = simple_strtol(token, NULL, 0);
 
+        } else if (strncmp(token, "num_outms=", 10) == 0) {
+            token += 10;
+            hm2->config.num_outms = simple_strtol(token, NULL, 0);
+
+        } else if (strncmp(token, "num_ssrs=", 9) == 0) {
+            token += 9;
+            hm2->config.num_ssrs = simple_strtol(token, NULL, 0);
+
         } else if (strncmp(token, "num_xy2mods=", 12) == 0) {
             token += 12;
             hm2->config.num_xy2mods = simple_strtol(token, NULL, 0);
@@ -534,6 +545,8 @@ static int hm2_parse_config_string(hostmot2_t *hm2, char *config_string) {
     HM2_DBG("    num_rcpwmgens=%d\n",  hm2->config.num_rcpwmgens);
     HM2_DBG("    num_inmuxs=%d\n",  hm2->config.num_inmuxs);
     HM2_DBG("    num_inms=%d\n",  hm2->config.num_inms);
+    HM2_DBG("    num_outms=%d\n",  hm2->config.num_outms);
+    HM2_DBG("    num_ssrs=%d\n",  hm2->config.num_ssrs);
     HM2_DBG("    num_xy2mods=%d\n",  hm2->config.num_xy2mods);
     HM2_DBG("    num_3pwmgens=%d\n", hm2->config.num_tp_pwmgens);
     HM2_DBG("    sserial_port_0=%8.8s\n"
@@ -1027,6 +1040,10 @@ static int hm2_parse_module_descriptors(hostmot2_t *hm2) {
             case HM2_GTAG_SSR:
                 md_accepted = hm2_ssr_parse_md(hm2, md_index);
                 break;
+
+            case HM2_GTAG_OUTM:
+                md_accepted = hm2_outm_parse_md(hm2, md_index);
+                break;
 
           case HM2_GTAG_RCPWMGEN:
                 md_accepted = hm2_rcpwmgen_parse_md(hm2, md_index);
@@ -1104,6 +1121,7 @@ static void hm2_cleanup(hostmot2_t *hm2) {
     hm2_sserial_cleanup(hm2);
     hm2_bspi_cleanup(hm2);
     hm2_ssr_cleanup(hm2);
+    hm2_outm_cleanup(hm2);
     hm2_rcpwmgen_cleanup(hm2);
 
     // free all the tram entries
@@ -1124,6 +1142,7 @@ void hm2_print_modules(hostmot2_t *hm2) {
     hm2_bspi_print_module(hm2);
     hm2_ioport_print_module(hm2);
     hm2_ssr_print_module(hm2);
+    hm2_outm_print_module(hm2);
     hm2_watchdog_print_module(hm2);
     hm2_inmux_print_module(hm2);
     hm2_inm_print_module(hm2);
@@ -1790,5 +1809,6 @@ void hm2_force_write(hostmot2_t *hm2) {
     // ioport is written.  Initialization of the SSR requires that
     // the IO Port pin directions is set appropriately.
     hm2_ssr_force_write(hm2);
+    hm2_outm_force_write(hm2);
 }